A dual-pathway Neural-ESO uses a Lipschitz-bounded neural network for feedforward disturbance prediction and a conventional ESO for online correction, guaranteeing uniform ultimate boundedness of the closed-loop system.
Safe control with learned certificates: A survey of neural Lyapunov, barrier, and contraction methods for robotics and control,
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Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
A dual-pathway Neural-ESO uses a Lipschitz-bounded neural network for feedforward disturbance prediction and a conventional ESO for online correction, guaranteeing uniform ultimate boundedness of the closed-loop system.